Formation control and obstacles avoidance for multi-agent systems based on position estimation

Author

Jing Chen ; Yuanqing Xia

Author_Institution

Key Lab. of Intell. Control & Decision of Complex Syst., Beijing Inst. of Technol., Beijing, China

fYear

2014

fDate

28-30 July 2014

Firstpage

1150

Lastpage

1155

Abstract

Formation control from optimal control strategy is derived based on the position estimation for second-order molded agents using only the relative position. Under the proposed strategy, agents can realize the convergence to the desired formation configure if and only if the interaction graph for the agents has a spanning tree. Extra control input is added into the derived control strategy, with the help of detecting obstacles using the relative position and taking avoidance measures using the estimated position, it can also realize obstacle avoidance for agents between themselves.

Keywords

collision avoidance; multi-agent systems; multi-robot systems; optimal control; trees (mathematics); avoidance measures; extra control input; formation control; interaction graph; multiagent systems; obstacle avoidance; obstacle detection; optimal control strategy; position estimation; relative position; second-order molded agents; spanning tree; Collision avoidance; Equations; Estimation; Mathematical model; Optimal control; Trajectory; Vectors; Formation control; Obstacle avoidance; Optimal control; Second-order system;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (CCC), 2014 33rd Chinese

Conference_Location

Nanjing

Type

conf

DOI

10.1109/ChiCC.2014.6896790

Filename

6896790